US 12,270,921 B2
Driver assistance system and method for correcting position information of a vehicle
Jaebum Choi, Gyeonggi-do (KR)
Assigned to HL KLEMOVE CORP., Incheon (KR)
Filed by HL KLEMOVE CORP., Incheon (KR)
Filed on Jan. 11, 2022, as Appl. No. 17/572,627.
Claims priority of application No. 10-2020-0168001 (KR), filed on Dec. 4, 2020.
Prior Publication US 2023/0221451 A1, Jul. 13, 2023
Int. Cl. G01S 19/48 (2010.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G01S 19/49 (2010.01)
CPC G01S 19/485 (2020.05) [G01S 17/86 (2020.01); G01S 17/89 (2013.01); G01S 19/49 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A driver assistance system, comprising:
a global positioning system (GPS) module configured to acquire GPS information of a vehicle;
a lidar configured to acquire point cloud data for an outside field of view of the vehicle;
a communicator configured to receive a high definition; and
a controller comprising at least one processor configured to process the point cloud data, the high definition map, speed data of the vehicle and steering angle data of the vehicle,
wherein the controller is configured to generate dead reckoning information of the vehicle in response to processing the speed data and the steering angle data, generate position information of the vehicle based on the dead reckoning information and the GPS information, acquire intensity data around the vehicle in response to processing the high definition map received based on the position information, compare the intensity data and the point cloud data to correct the position information, and control at least one of driving, braking, and steering of the vehicle based on the corrected position information; and
the controller is further configured to:
when a deviation between the dead reckoning information and the GPS information is greater than a preset deviation, select the dead reckoning information as the position information of the vehicle, and
when the deviation between the dead reckoning information and the GPS information is less than the preset deviation, set a weight for the dead reckoning information and a weight for the GPS information.